Dynamically directed workpiece positioning system

ABSTRACT

In various embodiments, a dynamically directed workpiece positioning system may include a transport, a sensor positioned to detect a workpiece on the transport, a cutting member positioned along or downstream of the transport, and a computer system. The sensor may scan the workpiece as the workpiece is moved relative to the transport by a human operator or a positioning device. Based on the scan data, the computer system may generate commands to guide the human operator or positioning device in moving the workpiece to a desired position corresponding to a cut solution for the workpiece. Optionally, the computer system may cause the cutting member to be repositioned while the workpiece is being moved relative to the transport. Once the workpiece is in the desired position, the transport may be used to move the workpiece toward the cutting member. Corresponding methods and apparatuses are also disclosed.

CROSS REFERENCE TO RELATED APPLICATION

This application is a continuation application of U.S. patentapplication Ser. No. 14/814,223 filed on Jul. 30, 2015 entitledDYNAMICALLY DIRECTED WORKPIECE POSITIONING SYSTEM, which claims priorityfrom U.S. Provisional Patent Application No. 62/031,639 filed Jul. 31,2014 entitled DYNAMICALLY DIRECTED WORKPIECE POSITIONING SYSTEM, thedisclosures of which are incorporated by reference herein.

BACKGROUND

Traditionally, machine centers such as gangs have been implemented as‘dumb’ systems with simple probe- or encoder-based positioning systems.Adding optimization to a machine center can increase speed and recovery,which can help to maximize profit. However, the cost of implementingoptimization in such machine centers can be high. For example,implementing optimization in a simple gang according to conventionalmethods requires the purchase and installation of a scanner/optimizer.The entire infeed is then replaced. Finally, the controls for the motionaxis are upgraded to enable positioning of the workpiece as theoptimizer instructs. Thus, implementing optimization in a machine centercan be expensive and time-consuming, with associated downtime increasingthe overall expense of the upgrade.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments will be readily understood by the following detaileddescription in conjunction with the accompanying drawings. Embodimentsare illustrated by way of example and not by way of limitation in thefigures of the accompanying drawings.

FIGS. 1A-C illustrate block diagrams of embodiments of a dynamicallydirected workpiece positioning systems;

FIGS. 2A-B illustrate perspective views of example sensorconfigurations;

FIGS. 3A-E illustrates plan views of embodiments of a dynamicallydirected workpiece positioning system;

FIGS. 4A-C illustrate an example implementation of a dynamicallydirected workpiece positioning system;

FIG. 5 illustrates a flow diagram of a method of positioning aworkpiece;

FIG. 6 illustrates a flow diagram of a method of modifying a workpieceprocessing system;

FIG. 7 is a schematic diagram of a computer system for implementingoperations of a workpiece positioning system;

FIG. 8 is a flow chart of an example workpiece positioning process of apositioning system;

FIG. 9 is a flow chart of an example position determination process;

FIG. 10 is a flow chart of an example position comparison process;

FIG. 11 is a flow chart of an example corrective action determinationprocess;

FIG. 12 is a flow chart of an example corrective action confirmationprocess;

FIGS. 13A-13E illustrate schematic views of a cut solution and cutpatterns for a workpiece;

FIG. 14 illustrates a plan view of a cutting assembly suitable for usewith a dynamic workpiece positioning system; and

FIGS. 15A-D illustrate schematic block diagrams of cutting memberadjustments, all in accordance with various embodiments.

DETAILED DESCRIPTION OF DISCLOSED EMBODIMENTS

In the following detailed description, reference is made to theaccompanying drawings which form a part hereof, and in which are shownby way of illustration embodiments that may be practiced. It is to beunderstood that other embodiments may be utilized and structural orlogical changes may be made without departing from the scope. Therefore,the following detailed description is not to be taken in a limitingsense, and the scope of embodiments is defined by the appended claimsand their equivalents.

Various operations may be described as multiple discrete operations inturn, in a manner that may be helpful in understanding embodiments;however, the order of description should not be construed to imply thatthese operations are order dependent.

The description may use perspective-based descriptions such as up/down,back/front, and top/bottom. Such descriptions are merely used tofacilitate the discussion and are not intended to restrict theapplication of disclosed embodiments.

The terms “coupled” and “connected,” along with their derivatives, maybe used. It should be understood that these terms are not intended assynonyms for each other. Rather, in particular embodiments, “connected”may be used to indicate that two or more elements are in direct physicalor electrical contact with each other. “Coupled” may mean that two ormore elements are in direct physical or electrical contact. However,“coupled” may also mean that two or more elements are not in directcontact with each other, but yet still cooperate or interact with eachother.

For the purposes of the description, a phrase in the form “A/B” or inthe form “A and/or B” means (A), (B), or (A and B). For the purposes ofthe description, a phrase in the form at least one of A, B, and C″ means(A), (B), (C), (A and B), (A and C), (B and C), or (A, B and C). For thepurposes of the description, a phrase in the form “(A)B” means (B) or(AB) that is, A is an optional element.

The description may use the terms “embodiment” or “embodiments,” whichmay each refer to one or more of the same or different embodiments.Furthermore, the terms “comprising,” “including,” “having,” and thelike, as used with respect to embodiments, are synonymous.

In exemplary embodiments, a computer system may be endowed with one ormore components of the disclosed apparatuses and/or systems and may beemployed to perform one or more methods as disclosed herein.

Various components of FIGS. 1A-4C and 13A-15D are numbered according toa numbering scheme in which the first digit corresponds to the Figurenumber (e.g., FIG. 1A) and the last two digits correspond to thecomponent. As such, any description of a given component (e.g., 110)should be understood to apply equally to any other components identifiedby the same last two digits (e.g., 210, 310, 1210, etc.).

Embodiments of methods, apparatuses, and systems for positioning aworkpiece are disclosed herein. In various embodiments, a workpiecepositioning system may include a sensor positioned to detect a workpieceon a transport and a computer system operatively coupled with thesensor. The computer system may be programmed to determine an actualposition of the workpiece on the transport based on data from thesensor, compare the actual position to a desired position or a cutsolution/pattern, and generate instructions (e.g., to a human operator,a controller, and/or a positioning mechanism) to guide repositioning ofthe workpiece to the desired position. In some embodiments, the computersystem may be programmed to calculate the cut solution/pattern, thedesired position for the workpiece, and/or a predicted position for adownstream cutting member.

In various embodiments, the computer system may be configured todetermine the actual position of the workpiece on the transport,determine a difference between the actual position and the desiredposition, and generate instructions for a corrective action to offset orreduce the difference. The computer system may be configured to repeatthis process until the actual position of the workpiece matches thedesired position within predefined limits. In other embodiments, thecomputer system and sensor may be collectively operable to continuouslyscan, optimize, and calculate/modify a cut solution or cut pattern for aworkpiece while the workpiece is being repositioned on the transportwithin the field of view of the sensor. The computer system may also beconfigured to direct a human operator or a controller/positioningmechanism to move the workpiece toward a desired position thatcorresponds to the cut solution/pattern, and to provide confirmationwhen the workpiece is correctly positioned for cutting by a downstreamcutting member.

In a particular embodiment, the sensor (e.g., a scanner) is mountedabove the transport and communicatively coupled with a computer systemthat includes an optimizer. The scanner is configured to continuouslyscan a workpiece (e.g., a flitch) on the transport while a humanoperator skews and slews the flitch. The computer system is configuredto receive scan data from the scanner and to determine an optimized cutsolution for the workpiece. The computer system is also configured todetermine one or more cut patterns for the workpiece based on theoptimized cut solution, and to cause an output device (e.g., a display,a speaker, a projector) to provide directions to the human operator foradjusting the position of the workpiece. Optionally, the optimizer maycontinuously adjust or recalculate an optimized cut solution and/or cutpattern(s) as the position of the workpiece is changed relative to thetransport.

As the sensor and computer system continuously scan and optimize theworkpiece, the output device may continue to provide directions to thehuman operator until the workpiece has been moved to a desired positionfor cutting the workpiece according to the cut solution/cut pattern. Thedirections may instruct the human operator to rotate, skew, slew, orotherwise move the workpiece relative to the transport to achieve thedesired position. The output device may provide the directions visuallyon a display device (e.g., as an image on a computer monitor) and/or onthe transport or workpiece (e.g., as a projected image). Alternatively,the output device may provide the directions as an auditory signal inthe form of speech (e.g., “rotate clockwise 10 degrees”) and/or othersounds (e.g., a sound or series of sounds that changespitch/frequency/duration as the workpiece approaches the optimizedposition).

Once the workpiece is in the desired position, the transfer may beoperated in the flow direction to convey the workpiece to the cuttingmember, which may be used to cut the workpiece. Optionally, the computersystem may be configured to adjust the position of the cutting member tooffset a difference between the actual workpiece position and thedesired workpiece position.

In other embodiments, an existing ‘dumb’ (e.g., probe-based orencoder-based) machine center may be upgraded with a sensor/computersystem as described above to implement optimization at lower cost thanin prior methods. For example, instead of purchasing ascanner/optimizer, replacing the entire infeed and upgrading thecontrols for the motion axis, optimization may be implemented bycoupling an existing machine center and/or workpiece positioning systemwith a sensor and computer system as described herein. Collectively, thesensor and computer system may be used to direct the positioning of aworkpiece on an existing transport (e.g., a conveyor). When theworkpiece is placed on the transport in the field of view of the sensor,the sensor may detect the workpiece and the computer system maycalculate the optimized position based on the sensor data. The computersystem may direct the existing positioning system to reposition theworkpiece to the optimized position, after which the transport may beoperated to feed the repositioned workpiece to the existing machinecenter. Optionally, one or more controllers may be coupled with thecomputer system and the existing positioning device to provide automatedor semi-automated repositioning of the workpiece. As long as thepositioning system is at least somewhat controllable, or can be easilymodified to be so, the cost of implementing optimization on edgers,gangs, and even log breakdown machines like end-doggers can be radicallyreduced.

FIGS. 1A-C illustrate block diagrams of embodiments of a dynamicallydirected workpiece positioning system 100.

Referring first to FIG. 1A, system 100 may include a sensor 120 and acomputer system 130 in electronic communication with the sensor. In someembodiments, system 100 may further include one or more of a transport110, an output device 140, a cutting member 150, and/or a positioner160.

Transport 110 may be configured to transport a workpiece 102 such as alog, a cant, a flitch, or a board. In some embodiments transport 110 maybe a stationary transport, such as a table. In other embodimentstransport 110 may be a movable transport, such as a conveyor.

Sensor 120 may be configured to detect the workpiece within a field ofview 122 and to generate corresponding sensor data. Sensor 120 caninclude, but is not limited to, one or more cameras, scanners, lasers,and/or other such devices, alone or in any suitable combination. In someembodiments, sensor 120 may include a laser triangulation system. Inother embodiments, sensor 120 may include a vision camera (e.g., a videocamera) configured to capture visual images of the workpiece. In someembodiments, sensor 120 may include a first sensor configured to detectworkpiece distance/geometry/position (e.g., a laser distance sensor, a3D scanner, a 2D sensor, a laser triangulation scanner) and a secondsensor configured to capture a visual image of the workpiece (e.g., acamera). Sensor 120 may be positioned above, below, or alongsidetransport 110, such that at least a portion of the transport 110 iswithin the field(s) of view 122 of sensor 120.

Computer system 130 and/or sensor 120 may include an optimizer. In someembodiments, any one or more of the sensor, the computer system, and/oroptimizer may be separate components that are coupled togetherphysically and/or electronically (e.g., by a wireless connection). Inother embodiments, the sensor, the computer system, and/or the optimizermay be integrated within a single device. In still other embodiments,two or more devices may collectively perform the functions of thesensor, computer system, and/or optimizer.

In various embodiments, computer system 130 may be configured todetermine an actual position of the workpiece based on data from sensor120 and to compare the actual position of the workpiece to a cutsolution/pattern for the workpiece. Computer system 130 may beconfigured to generate, based at least on the comparison, one or morecommands configured to cause the workpiece to be moved relative to thetransport to a desired position that corresponds to the cut solution.

In some embodiments, computer system 130 may be configured to determinewhether a difference between the actual workpiece position and thedesired position can be offset by repositioning the cutting member or bymodifying the cut solution/pattern. This may allow the workpiece to becut according to the cut solution/pattern without repositioning theworkpiece.

In various embodiments, computer system 130 may be configured tocalculate the cut solution (e.g., an optimized cut solution) and/or acut pattern for the workpiece based on the sensor data. The cut solutionmay define the dimensions of one or more pieces to be cut from theworkpiece. The cut pattern may define one or more cut lines along whichthe workpiece can be cut to yield the piece(s) with the dimensionsdefined by the cut solution. In some cases, several cut patterns ormodifications to cut patterns may be calculated for one cut solution.For example, if a cut solution defines a 6″ wide piece to be cut from aworkpiece that is 8″ wide, one cut pattern may have cut lines 1″ fromeach side of the workpiece and another cut pattern may have a cut line0.5″ from one side and 1.5″ from the opposite side of the workpiece, orcut lines that are angled relative to a centerline of the workpiece. Asanother example, a cut pattern may be modified by changing the positionof one cut line with respect to another cut line, or by changing theposition of all of the cut lines collectively with respect to theworkpiece.

Optionally, computer system 130 may be configured to determine one ormore workpiece characteristics such as workpiece dimensions, wane,defects (e.g., knot, split, shake, check, warp, discoloration), and/orgrade, based on data from sensor 120. Computer system 130 may beconfigured to determine the cut solution for a workpiece based at leastin part on the identified defects and/or grade. In other embodiments,computer system 130 may be configured to receive a preferred position, acut solution, and/or a cut pattern from an optimizer or another computersystem. Alternatively, computer system 130 may be configured tocalculate the cut solution or cut pattern based at least in part oninput by a human operator (e.g., a workpiece grade, a desired product, awood species).

Computer system 130 may optionally be configured to determine thedesired position for the workpiece. The desired position may be aposition that corresponds to the cut solution. In other words, thedesired position may be a position in which the workpiece could, ifmoved in the direction of flow to the cutting member without furtherrepositioning, be cut according to the cut solution. In someembodiments, computer system 130 may be configured to determine adesired position for the workpiece based at least in part on the cutsolution, cut pattern, and/or an actual or predicted position of acutting member disposed downstream of the scanner. Computer system 130may also be configured to recalculate the desired position to accountfor a modification to another parameter (e.g., a new or modified cutpattern/solution, a change in the predicted position of a downstreamcutting member, a change in the actual position of the workpiece).Optionally, computer system 130 may be configured to generate adimensional model of the workpiece based on the sensor data, and toperform any of the calculations/determinations described herein based onthe dimensional model.

In various embodiments, computer system 130 may be configured togenerate one or more workpiece positioning instructions based on anactual position of the workpiece and the cut solution/pattern or desiredposition. In some embodiments, computer system 130 may be configured tosend the instruction(s) to an output device, such as output device 140.Output device 140 may be configured to output instructions to directpositioner 160 to move the workpiece to the desired position, such thatthe workpiece can be cut by cutting member 150 according to the cutsolution/pattern.

Cutting member 150 can be, but is not limited to, a cutting member of anedger, a trimmer, a chipper, a profiler, a saw, or a planer. In variousembodiments, cutting member 150 may be positioned upstream, downstream,or along transport 110. Other embodiments may lack cutting member 150.

In some embodiments, positioner 160 may be a positioning deviceconfigured to push, pull, rotate, skew, slew, or otherwise manipulate aworkpiece on the transport, and output device 140 may be a programmablelogic controller (PLC) or other type of controller configured to controlthe positioning device in response to instructions from computer system130 (FIG. 1C). For example, positioner 160 may include one or moreactuators (e.g., linear positioners, hydraulic cylinders, lifts, alinebar, chains, skids, flights) and output device 140 may be a PLCconfigured to control each of the actuators independently and/orcollectively to move the workpiece to the desired position relative totransport 110. Actuators may be hydraulic, pneumatic, electric, or othertypes of actuators. In other examples, positioner 160 may include one ormore mechanisms configured to rotate, raise, lower, skew, and/or slewtransport 110. In various embodiments, positioner 160 may include one ormore chains (e.g., spotting chains, a flighted chain), flights, skids,linebars, pins, or other suitable types of positioning devices. Someembodiments may include multiple positioners 160. Optionally,positioner(s) 160 may be controlled automatically (e.g., by computersystem 130). Alternatively, positioner(s) 160 may be controlled by ahuman operator via a joystick, keyboard, computer mouse, touchscreen, orany other suitable controller. Some embodiments may lack positioner 160.

Alternatively, positioner 160 may be a human operator, and output device140 may be configured to provide visual and/or auditory directions tothe human operator in response to instructions from computer system 130(FIGS. 1-3). The directions may be configured to guide the humanoperator in repositioning the workpiece toward the desired position onthe transport, such that the workpiece can be cut by cutting member 150according to the cut solution.

In various embodiments, output device 140 may include, or may beoperatively coupled with, a display 142 and/or a speaker 144.

Display 142 may include, for example, a liquid-crystal display, acathode-ray tube display, an e-ink display, or a touch screen. Display142 may be configured to display an image 152 in response toinstructions generated by the computer system 130. In variousembodiments, image 152 may include a visual representation of theworkpiece (or a portion thereof) in its actual position on transport 110and a visual representation of the desired position or cutsolution/pattern. Optionally, image 152 may include one or morealignment marks (e.g., a grid, a ruler, an arrow, a line that indicatesa position of a cutting member). In some embodiments, display 142 andspeaker 144 may be integrated within output device 140. Otherembodiments may lack display 142 and/or speaker 144.

Speaker 144 may be, or may include, an electroacoustic transducer thatproduces sound in response to an electrical audio signal input fromoutput 140/computer system 130. In some embodiments, speaker 144 mayoutput auditory directions to the human operator in the form of speech(e.g., “move two inches to left”). In other embodiments, speaker 144 mayoutput auditory directions to the human operator in another form, suchas a continuous signal or series of signals, and the directions to thehuman operator may be a function of tone and/or the time betweenemissions of the signal. For example, speaker 144 may emit a sound atintervals, and the duration of the intervals may be a function of thedistance between the actual workpiece position and the preferredposition (e.g., with intervals between sounds becoming shorter as theworkpiece approaches the preferred position). As another example,speaker 144 may emit a sound continuously or discontinuously, with thetone, pitch, timbre, and/or volume rising or falling based on thedistance between the actual workpiece position and the desired position.Optionally, speaker 144 may be integrated within output device 140.Alternatively, speaker 144 may be a separate device. For example, insome embodiments, speaker 144 may be integrated within a headset orother device configured to be worn by a human operator.

Optionally, system 100 or output device 140 may include a projector 146operatively coupled with computer system 130 (FIG. 1B). Projector 146may be any type of optical device configured to project an image onto asurface. Examples of suitable projectors include, but are not limitedto, video projectors, laser projectors/devices, and digital micro-mirrordevices (DMD's). Projector 146 may be configured to project an image 148onto transport 110 and/or workpiece 102 in response to instructionsgenerated by the computer system 130. In various embodiments, image 148may be an image of the workpiece (or a portion thereof). The image maybe projected onto the desired position on transport 110 to indicate thedesired position to a human operator. In other embodiments, image 148may include an image of one or more cut lines, a cut pattern, and/or oneor more alignment marks (e.g., a grid, a ruler, an arrow, a line toindicate a position of the cutting member). Optionally, projector 146and sensor 120 may be integrated within a single unit. Alternatively,projector 146 and sensor 120 may be separate devices. In someembodiments, any one or more of output device 140, speaker 144, display142, or projector 146 may be integrated with computer system 130 in asingle device.

In some embodiments, projector 146 or one or more other projectors,lasers, or the like may be operatively coupled with cutting member 150and operable to project an image of a cut line along a plane of cuttingmember 150. In embodiments with multiple cutting members 150, theprojector/laser may be configured to project an image of a cut linealong the plane of each cutting member 150 or selected ones of thecutting members 150. For example, in some embodiments theprojector/laser may be configured to project an image of a cut linealong the plane of the cutting members 150 that will be used to cut thenext workpiece. Optionally, the projector/laser may be configured toslew/skew the projected cut line(s) as the corresponding cuttingmember(s) 150 skews and slews. In other embodiments, the projector/lasermay be configured to project an image of a cut line along the plane ofthe end-most cutting member(s) 150 or the middle cutting member(s) 150.

FIGS. 2A-B illustrate perspective views of example sensorconfigurations, in accordance with various embodiments. Again, thepresent disclosure identifies various components by three-digit numbers,and any description of a component identified by a given last pair ofdigits (e.g., 110) should be understood to apply equally to othercomponents so identified (e.g., 210, 310, 310, etc.).

In some embodiments, sensor 220 may include a plurality of sensorsarranged above the transport 210. For example, as illustrated in FIG.2A, sensor 220 may include a plurality of cameras, scanners, or otherimaging devices mounted above the transport 210 to form a single line ofsensors spaced apart at intervals (e.g., at 6 inch intervals).Alternatively, the sensors may be arranged in two lines above and toeach side of transport 210, as shown for example in FIG. 2B, such thattheir fields of view include the upper face and some portion of thesides of the workpiece 202. These examples are provided merely by way ofillustration, and are not intended to be limiting. In other embodimentsthe sensors may be provided in any suitable number, arrangement, and/orconfiguration.

In some embodiments, a conventional workpiece processing system may beupgraded to include a dynamic positioning system as described herein.This may allow the elimination of one or more positioning mechanismsfrom the prior system. For example, a conventional edger system includesan edger infeed with rotatable rolls for conveying the workpiece intothe edger, positioning pins, and vertically adjustable skids positionedbetween the rolls. Each skid has a corresponding chain or belt that canbe rotated to move the workpiece across the width of the infeed, and thepositioning pins can be moved in the flow direction across the infeed tostop the workpiece in a desired position for cutting. In operation,individual workpieces would be conveyed on a chain conveyor onto theadjustable skids. The chains or belts would be rotated in the flowdirection to move the workpiece into contact with the positioning pinsto thereby position the workpiece. Once the workpiece is in the correctposition, the skids would be lowered to allow the workpiece to contactthe rolls, and the rolls would be rotated to convey the workpiece intothe edger.

FIGS. 3A-E illustrates plan views of embodiments of a workpieceprocessing system 300. In various embodiments, system 300 may beobtained by adding a sensor (e.g., sensor 120/220) and/or a computersystem (e.g., computer system 130) to the existing workpiece processingsystem. Alternatively, in some embodiments an existing computer systemmay be programmed to implement the functionality/operations describedherein. The sensor may be positioned above an existing transport/infeedand coupled with the computer system. Optionally, the computer systemmay also be coupled with one or more positioning mechanisms (e.g.,positioner 160) of the existing system.

Referring first to FIG. 3A, a workpiece processing system 300 mayinclude one or more of an infeed 310, conveyor(s) 386, and cuttingmember(s) 350. Cutting member(s) 350 may be one or more saws of acutting assembly. As described further below with reference to FIG. 14,in some embodiments cutting member(s) 350 may be one or more saws of acutting assembly that includes a slewing assembly (e.g., cuttingassembly 1400). In other embodiments, cutting member(s) 350 may be oneor more saws of a gang saw or an edger saw. While FIG. 3A illustrates adual arbor saw assembly, other embodiments may have a single arbor sawassembly. Optionally, system 300 may further include an outfeed 388downstream of cutting members 350.

Optionally, some or all of the infeed 310, conveyor(s) 386, cuttingmember(s) 350, and outfeed 388 may be components of an existing system,such as an existing edger, canter, or gang saw system. However, system300 may further include a sensor 320 positioned above infeed 310 and acomputer system 330 operatively coupled with sensor 320. Optionally,computer system 330 may also be operatively coupled with, and operativeto control, cutting member(s) 350. For example, computer system 330 maybe operatively coupled with a driver, a slewing assembly, a saw boxpositioner, a saw guide, and/or any other component operable to controlthe speed, position, or other operations of the cutting member(s) 350.

Sensor 320 may have a field of view 322 that encompasses some or all ofthe upper surface of the infeed. In some embodiments, sensor 320 mayinclude a plurality of sensors arranged above the infeed 310. Forexample, as illustrated in FIGS. 2A-B, sensor 320 may include aplurality of line scanners arranged to form one or more lines of sensorsspaced apart at intervals (e.g., at 6 inch intervals) above the infeed310.

In operation, the workpiece may be conveyed on conveyor 386 to infeed310. Optionally, a human operator (indicated as 360 in FIG. 3A) mayactivate a control (e.g., a “grade” button) to cause the sensor 320 toscan the workpiece on the infeed 310. Alternatively, the sensor 320 mayautomatically begin to scan the workpiece without input from the humanoperator. The computer system 330 may receive scan data from the sensor320. Optionally, based at least one the scan data, the computer system130 may calculate a desired cut solution/pattern and/or a desiredlocation for the workpiece. In some embodiments, the computer system 330may generate instructions to direct the human operator to move theworkpiece relative to the infeed 310. For example, the instructions maybe instructions to one or more output devices (e.g., a speaker, adisplay, a projector) as described above.

In some embodiments, as shown by way of example in FIGS. 3D-E, thecomputer system 130 may cause one or more projectors (e.g., projector146) to project one or more images 348 onto workpiece 302 and/or infeed310 in order to guide the human operator in repositioning the workpiece.For example, the projected image(s) 348 may be one or more laser linesthat indicate predicted cut lines. The image(s) may be projected fromabove the infeed 310 or from another location, such as a saw box or sawassembly downstream of infeed 310. In some embodiments, the computersystem 330 may be programmed to cause the cutting member(s) 350 andprojected image(s) 348 to be repositioned synchronously, such that theposition of one reflects the position of the other in real time. Inother embodiments, as described for example in reference to FIGS. 4A-Cbelow, the computer system 330 may control another output device (e.g.,display 142) to output other visual representations of the workpiece,predicted cut lines, and/or cut solution instead of, or in addition to,causing a projector to project images 348. Optionally, the computersystem 330 may cause the same or another output device to output avisual or auditory signal (e.g., a green light, a particular sound) toindicate that the workpiece has been moved to the desired position.

Once the workpiece is in the desired position, the infeed may beoperated to convey the workpiece to the cutting member(s) 350. In someembodiments, system 300 may be configured to allow the human operator tomake an adjustment to the cutting solution/pattern. For example, system300 may include a manual control, such as a joystick and/or button, thatallows a human operator to adjust the position of a projected image 348(e.g., to avoid a defect such as a knot, wane, or discoloration in theintended cut product). Based on the input, the computer system 330 mayadjust the positions of the projected image 348 and the correspondingcutting member 350. System 300 may also be configured to cause theinfeed 310 to transport the workpiece to the cutting member(s) 350 inresponse to input from the human operator (e.g., by pressing a footpedal, a button, or other control).

In a particular embodiment, the human operator loads a workpiece fromthe conveyor 386 onto infeed 310. The human operator may also press agrade button. As soon as the workpiece is on infeed 310, the workpieceis scanned continuously by sensor 320. The computer system 130 causesone or more output devices (e.g., a projector, a light source) to directthe human operator to skew the end of the workpiece to the left or tothe right. The output device(s) may provide directions in the form ofimages 348 and/or in another form, such as a red or green light or anauditory signal. As the workpiece is being moved by the human operator,the sensor 320 continues to detect the workpiece and the computer system330 continues to recalculate/modify the cutting solution based on theadditional information from sensor 320.

As shown for example in FIGS. 3B and 3C, the computer system 330 mayreposition images 348 and cutting member(s) 350 synchronously in realtime to track the cut solution as the workpiece is being moved and thecut solution is being recalculated/modified. In addition, the humanoperator can manually adjust the cut solution/cutting members 150 byusing an input device (e.g., a joystick, buttons, a foot pedal; notshown) to manually adjust the locations of the cut lines in order tomaximize the value based on visual defects, clear wood, a split, desiredproduct attributes/dimensions, or the like. Again, the computer system330 may move the images 348 to track the position of the cutting members150 in real time.

When the workpiece has been moved to a desired position that aligns withthe cut solution, the computer system 330 causes an output device todirect the human operator to stop moving the workpiece (e.g., by causinga light source to emit a green light, or causing a speaker to emit aparticular sound). At that time, the cutting members are already inposition to cut the workpiece. The infeed is activated to move theworkpiece forward (e.g., automatically by computer 330, or by a buttonor footswitch operated by the human operator). As the workpiece movestoward the cutting member(s) 150, the workpiece may be scanned again toobtain data from any previously undetected portions of the workpiece.

Modifying a manual edger or gang saw in this manner may provide a costeffective alternative to replacing the manual edger with an entirely newsystem, and without compromising the optimized solution or sawingaccuracy. Such embodiments may be used to obtain maximum piece rates of12 ppm or more while using human operators to position the workpieces,and may decrease variability in results among different human operators.

In other embodiments, system 300 may include, or may be configured foruse with, one or more mechanical (i.e., non-human) positioners.Referring now to FIGS. 3D and 3E, system 300 may include one or morecomponents of an existing workpiece processing system, such as an infeed310 with rotatable rolls 390 for conveying the workpiece into thecutting members 350, vertically adjustable conveyors 394 (e.g., skidswith a rotatable chain or belt), and/or positioning pins 392 (FIG. 3B)generally as described above. Vertically adjustable conveyors 394 may berotatable in one or both directions indicated by the double-headedarrow. Likewise, positioning pins 392 may be movable across the infeed310 in the directions indicated by the double-headed arrow.

In addition, system 300 may include sensor 320 positioned to detect aworkpiece on infeed 310 and computer system 330 coupled with sensor 320.In some embodiments, computer system 330 may be operatively coupledwith, and programmed to control, positioning pins 392 (FIG. 3B) and/orvertically adjustable conveyors 394. For example, as shown in FIG. 3B,computer system 330 may be operatively coupled with some or all of thepositioning mechanisms of the existing system. In other embodiments, asshown for example in FIG. 3C, computer system 330 may be operativelycoupled with vertically adjustable conveyors 394. Computer system 330may be programmed to control vertically adjustable conveyors 394independently to position the workpiece in the desired position withoutthe use of positioning pins 392 or other such devices. For example,instead of controlling vertically adjustable conveyors to simply conveythe workpiece and using the positioning pins to stop the workpiece atthe desired position, computer 330 may be programmed to selectivelycontrol the rotation of each of the belts/chains of verticallyadjustable conveyors 394 to move the workpiece to the desired locationand skew angle on infeed 310, and to lower the vertically adjustableconveyors 394 once the workpiece is in the desired position.

Alternatively, in other embodiments computer system 330 may beoperatively coupled with, and programmed to control, one or more othermechanical positioners such as positioning pins, a movable fence, orother stop members to position the workpiece on infeed 310. In stillother embodiments, the entire infeed 310 may be, or may be modified tobe, the mechanical positioner. For example, the infeed 310 may beselectively repositionable, and computer system 330 may be operativelycoupled with, and programmed to control, the infeed 310 to slew, skew,and/or elevate the workpiece to the desired position. Regardless of thetype of positioning mechanism used, an existing manual system may beupgraded as described herein to implement optimization and/orsemi-automatic or fully automatic workpiece positioning in a moreeconomic and efficient manner than was possible in prior methods.

FIGS. 4A-4C illustrate an implementation of the workpiece positioningsystem, in accordance with various embodiments. In this example,transport 110 is an endless belt conveyor with an upper surfaceconfigured to support a workpiece 102. However, in other embodimentstransport 110 can be a chain conveyor or other type of workpiecetransport. Workpiece 102 can be a flitch, as shown in FIGS. 4-6. Inother embodiments, workpiece 102 may be, but is not limited to, a log, acant, a board, or the like.

In operation, workpiece 102 may be placed onto transport 110. A sensor(e.g., sensor 120, FIGS. 1-2) may be positioned overhead and configuredto detect the workpiece on the transport. A computer system (e.g.,computer system 130, FIGS. 1-2) may be operatively coupled to the sensorand to a display 142. The computer system may receive and analyze datafrom the sensor to determine an actual position of the workpiece on thetransport. The computer system may also calculate a cutsolution/pattern, determine a desired position for the workpiece,determine a predicted position of a downstream cutting member (e.g.,cutting member 150, FIGS. 1-2), and/or perform other operations asdescribed elsewhere herein. The computer system may send instructions tothe display 140 based on these operations. In response, display 140 maydisplay an image 152. In some embodiments, as shown for example in FIGS.4-6, the computer system may generate a two-dimensional (2D) modeland/or a three-dimensional (3D) model of the workpiece based on datafrom the sensor, and image 152 may include a representation of the 2Dmodel and/or the 3D model.

Optionally, image 152 may include a plan view 154 and an end view 156 ofthe workpiece or model(s). Image 152 may also include one or moreorientation features, such as lines, grids, units of measure, and thelike, that have a fixed orientation relative to the transport. In someembodiments, image 152 may include a representation of a cut pattern,cut lines, and/or lines to indicate the position(s) of one or moredownstream cutting members. For example, as shown in FIGS. 4-6, planview 154 may show a longitudinal axis and a transverse axis of thetransport, the 2D model of the workpiece oriented relative to the axes,and longitudinal orientation lines 158 that extend generally parallel tothe a longitudinal axis of the 2D model. Similarly, end view 156 mayinclude a horizontal line that represents the generally horizontal planeof the transport (i.e., the plane of the upper surface), a vertical linethat represents a generally vertical plane that extends longitudinallythrough the transport, the 3D model of the workpiece oriented relativeto the planes, and projected cut lines 158.

In some embodiments, the displayed image may include orientation marksconfigured to guide the human operator in moving the workpiece to thedesired position. The positions of the models relative to theaxes/planes may reflect the actual position of the workpiece on thetransport, and the orientation marks may reflect the actual position ofthe workpiece relative to a desired position or other reference location(e.g., a position of a cutting member, a cut pattern, etc.). Thepositions of the models may change as the workpiece is moved relative tothe transport. In some embodiments, the positions of the orientationmarks may also change as the workpiece is moved. In other embodiments,the orientation marks may remain stationary. In still other embodiments,the orientation marks may change in position, size, number, and/or typeto reflect corresponding changes in another parameter (e.g., cutsolution/pattern, predicted position of cutting member).

In some embodiments, the orientation marks may be orientation lines. Theorientation lines may indicate a target position (e.g., as a spacebetween the orientation lines) or a direction in which the workpiece isto be moved. The alignment of the model with the orientation lines mayindicate whether the workpiece is in the desired position. For example,the corresponding model may be shown centered between the orientationlines to indicate that the workpiece is in the desired position, suchthat a human operator can view the display and move the workpiece toalign the models with the orientation lines. Alternatively, theorientation marks may indicate cut lines of a cut pattern and/or thepositions of corresponding cut members.

In some embodiments, the positions of the orientation marks relative tothe model may indicate projected cut lines. For example, in theillustrated example of FIGS. 4-6, plan view 154 includes four projectedcut lines 158 shown relative to the 2D model, while end view 156 showsthe four projected cut lines 158 relative to the 3D model. The positionsof these projected cut lines may be moved/adjusted relative to themodel(s) as the workpiece is moved relative to transport 110. Likewise,the positions of corresponding cutting members 150 may be automaticallyadjusted to track the positions of the projected cut lines, or viceversa. Optionally, a light, sound, or other signal may be provided whenthe workpiece is at or near the desired position relative to transport110. The system of FIGS. 4-6 and the accompanying description isprovided merely by way of example, and many variations in the types,numbers, and arrangements of visual displays, images, models, andorientation marks are possible. As such alternatives will be readilyappreciable to skilled artisans in possession of the present disclosure,they will not be discussed further herein.

In some embodiments, sensor 120 and computer system 130 may becollectively configured to scan and optimize the workpiecediscontinuously. For example, computer system 130 may be configured todetermine the actual position of the workpiece on the transport,determine a difference between the actual position and the desiredposition, generate instructions for a corrective action to offset orreduce the difference, and determine a result of the corrective action.Computer system 130 may be configured to repeat the process after thecorrective action, taking into account the result of the correctiveaction, until the actual position of the workpiece matches the desiredposition within predefined limits. The predefined limits may be enteredby a user (e.g., a human operator), or computer system 130 may beprogrammed with one or more standard sets of limits. The predefinedlimits may define an acceptable range(s) of positional error(s) (e.g.,deviation from a desired skew angle or slew distance). Alternatively,the predefined limits may define an acceptable range(s) of products tobe cut from the workpiece.

In other embodiments, sensor 120 and computer system 130 may becollectively configured to scan and optimize the workpiece continuouslywhile the workpiece is being repositioned on the transport within thefield of view of the sensor. Computer system 130 may also be configuredto calculate/modify a cut solution or cut pattern for the workpiececontinuously while the workpiece is being repositioned on the transport.Computer system 130 may be configured to direct a human operator or acontroller/positioning mechanism to move the workpiece toward thedesired position until the desired position is reached within predefinedlimits. Alternatively, sensor 120 and computer system 130 may becollectively configured to monitor the changing position of theworkpiece while a human operator moves the workpiece relative to thetransport, and to provide an indication to the human operator when theworkpiece is in a position that corresponds to the cut solution/pattern.

In a particular embodiment, a human operator may load a workpiece ontotransport 110 (e.g., from a conveyor or bin). Optionally, the humanoperator may also press a grade button. Once the workpiece is ontransport 110, the workpiece is scanned continuously by sensor 120 (inthis embodiment, a series of laser sensors arranged at intervals along aflow direction above transport 110). Based at least in part on datareceived from the sensor 120, computer system 130 generates instructionsto an output device (e.g., a speaker, display, projector, one or morelights) to output directions to the human operator to skew the end ofthe workpiece to the left or the right, and when to stop moving theworkpiece. The directions include displayed/projected lines thatindicate cut lines of a cut solution for the workpiece, the positions ofcorresponding cutting members 150, or both. As the workpiece is beingmoved by the human operator, the sensor 120 continues to scan theworkpiece and the computer system 130 continues to recalculate or modifythe cut solution based on the additional data from the sensor 120. Thecomputer system causes the cutting member(s) and displayed/projectedlines 158 to be repositioned in real time to follow the current cutsolution.

The cut solution and/or saw lines are visible to the human operator, andthe system includes an input device (e.g., a joystick, buttons, a pedal)operable by the human operator to manually adjust the laserlines/cutting members to maximize the value of the workpiece based onvisual defects, clear wood, a split, or other workpiece attributes. Oncethe workpiece is aligned with the current cut solution, the computersystem 130 causes the same or different output device to signal thehuman operator to stop repositioning the workpiece (e.g., a green light,a particular sound), at which time the saws have already been positionedto cut the workpiece according to the current cut solution.

The human operator then uses a manual input (e.g., a button orfoot-operated switch) to cause transport 110 to move the workpiecetoward the cutting members 150. As the workpiece moves forward, it isscanned again to fill in the areas between the 6″ scan lines. Based onthe additional information, the computer system 130 may determine, afterthe workpiece has been moved to a final position on transport 110, thatthe desired position and/or the cut pattern should be modified (e.g., toavoid a newly detected defect on the workpiece). The computer system maycalculate a corrective action, such as an adjustment to the position ofthe cutting member(s) 150 and/or a modification to the cut solution toallow the workpiece to be cut according to the cut solution or modifiedcut solution without further repositioning of the workpiece.

This and other embodiments described herein may provide a cost-effectiveway to replace or upgrade a manual edger or gang saw in a tightfootprint without compromising recovery or sawing accuracy. Embodimentsthat rely on positioning by a human operator may provide piece rates of12 ppm or more while reducing variability in results among differenthuman operators. Embodiments that include mechanical (non-human)positioners operable to automatically reposition workpieces may provideeven higher piece rates.

FIG. 5 illustrates a flow diagram of a method of positioning aworkpiece, in accordance with various embodiments. While the blocks areshown in a particular order by way of example, it is to be understoodthat in various embodiments the corresponding actions/processes may beperformed in any order and/or any suitable number of times. Therefore,the order and number of actions/processes is not intended to belimiting.

Method 500 may begin at block 501. At block 501, a sensor (e.g., sensor120) may be used to detect a workpiece (e.g., workpiece 102) on atransport (e.g., transport 110). In various embodiments, block 501 mayinclude placing the workpiece on the transport within the field(s) ofview of the sensor. For example, the workpiece may be placed on thetransport by a positioner (e.g., positioner 160) or by a device such asa conveyor/transfer, a roller, or a drop-out gate. Data from the sensormay be received by a computer system (e.g., computer system 130).

Optionally, at block 503, the computer system may determine, based onthe data from the sensor, at least one actual position of the workpiecerelative to the transport. In some embodiments, the computer system andsensor may collectively detect the workpiece and determine actualpositions of the workpiece continuously while the workpiece is movedrelative to the transport. In other embodiments, block 503 may beomitted and the method may proceed from block 501 to block 505.

Optionally, at block 505, the computer system may calculate a cutsolution for the workpiece based on the sensor data. In someembodiments, at block 505 the computer system may also calculate one ormore cut patterns for the workpiece based on the cut solution. Skilledartisans will readily understand that some cut solutions may haveseveral corresponding cut patterns, each suitable for cutting theworkpiece according to the cut solution. Alternatively, the computersystem may receive a pre-calculated cut solution/pattern from anothercomputer or a cut solution/pattern input by a human operator. In someembodiments, the computer system may calculate a cut solution based onthe sensor data and input by a human operator (e.g., a desired product)and/or other information stored or received by the computer system(e.g., economic values of various products, wood species, cutsolution/pattern of preceding workpiece).

Optionally, at block 507, the computer system may calculate a desiredposition for the workpiece based at least on the cut solution/pattern.The desired position may be a position in which the workpiece is alignedwith an actual or predicted position of a downstream cutting device,such that moving the workpiece in that position through the cuttingdevice allows the workpiece to be cut according to the cutsolution/pattern. In other embodiments, the computer system may modifythe cut solution/pattern (or calculate a new cut solution/pattern) forthe workpiece based on the actual position.

Optionally, at block 509, the workpiece may be moved relative to thetransport among a plurality of positions. In some embodiments, theworkpiece may be moved while the computer system calculates orrecalculates the cut solution/pattern, the desired position, and/or theactual position of the workpiece. In some embodiments, the sensor maycontinue to detect the position of the workpiece while the workpiece ismoved. The computer system may continue to receive data from the sensor,determine the additional positions of the workpiece, and recalculate ormodify the cut solution/pattern or the desired position as the workpieceis being moved (e.g., by a human operator or a positioning device, e.g.,positioner 160). In other embodiments, the computer system may calculatea cut solution/pattern for the workpiece before determining an actualposition of the workpiece. Optionally, the computer system may alsodetermine a preferred position for the workpiece based at least on thecut solution/pattern before determining the actual position of theworkpiece.

At block 513, the computer system may compare the actual position to thecut solution/pattern or the desired position. For example, the sensormay capture an image of the workpiece on the transport, and the computersystem may compare the actual position to a desired position by findingthe edges of the workpiece in the image, determining the locations ofthe edges that correspond to the desired position, and calculating thedifference in distance/angle between the actual location of the edgesand the locations that correspond to the desired position.Alternatively, the computer system may compare the actual location ofone or more reference points along the workpiece (e.g., center, corners,ends, sides, outer edges) to expected locations of those referencepoints in the desired position, and calculate the differences indistance/angle between the actual locations of the reference points andthe desired positions of the reference points.

At block 515, the computer system may generate, based at least on thecomparison, one or more commands configured to cause the workpiece to bemoved relative to the transport to a desired position that correspondsto the cut solution. In some embodiments, the command(s) may beconfigured to cause an output device (e.g., output device 140; display142, speaker 144, and/or projector 146) to provide instructions to ahuman operator for moving the workpiece to the desired position. Inother embodiments, the output device may include a controller, and thecommand(s) may be configured to cause the controller to operate apositioning device to move the workpiece to the desired position.

In some embodiments, the workpiece may be moved relative to thetransport. While the workpiece is being moved (or after the workpiecehas been moved) the method may return to block 501 and the sensor maydetect the workpiece again. Some or all of blocks 503 to 515 may berepeated until the workpiece has been moved to the desired position, orapproximately the desired position. Thus, in some embodiments, as thesensor continues to detect the workpiece, the computer system maycontinue to re-optimize the workpiece based on data from the sensor andto direct the repositioning of the workpiece in an iterative manneruntil the workpiece has been moved to the desired position (e.g., withinan acceptable margin of error).

In some embodiments, the workpiece may be turned over, advanced in thedirection of flow, and/or moved in the opposite direction, such that asurface or surface portion of the workpiece becomes newly detectable bythe sensor. This additional information from the sensor may allow thecomputer system to calculate a more desirable cut solution/pattern forthe workpiece. For example, turning the workpiece over may reveal adefect (e.g., a knot, wane, a stain, a crack) that was not detected onthe side that was initially scanned. As another example, the sensor mayinclude one or more lineal scanners positioned to detect correspondingone or more portions of the workpiece, and moving the workpiece forwardor backward relative to the direction of flow may allow the linealscanner(s) to detect a previously undetected portion of the workpiece.Regardless, based on the additional information from the sensor, thecomputer may recalculate or modify the cut solution/pattern (e.g., toreduce or eliminate a newly detected defect from the predicted cutproduct). The computer may then recalculate or modify the desiredposition in accordance with the new or modified cut solution/pattern.

Optionally, at block 517, the computer system may determine a predictedposition for a cutting member (e.g., cutting member 150) downstream ofthe workpiece. The predicted position may be a starting position for thecutting member to cut the workpiece according to the cutsolution/pattern. In some embodiments, the computer system mayrecalculate the predicted position as the actual position, desiredposition, or cut solution/pattern is recalculated or modified.

In some embodiments, at block 519 the computer system may cause thecutting member to be repositioned to the predicted position while theworkpiece is being moved relative to the transport toward the desiredposition. Alternatively, the computer system may cause the cuttingmember to be repositioned to the predicted position after the workpiecehas been moved to the desired position, while the workpiece is beingmoved in the direction of flow toward the cutting member by thetransport. Pre-positioning the cutting member may reduce the timerequired to cut the workpiece according to the cut solution/pattern.

Optionally, in some embodiments the sensor and computer system maycontinue to collectively detect the workpiece and recalculate/modify thecut solution/pattern as the workpiece is advanced toward the cuttingmember on the transport. For example, the sensor may be one or more linescanners spaced apart above the transport in the direction of flow. Thesensor may have a field of view that includes only part of the surfaceof the workpiece while the workpiece is being moved toward the desiredposition. However, once the workpiece is has been placed intoapproximately the desired position and is being advanced toward thecutting member, the sensor may detect some or all of the previouslyundetected portions of the workpiece. The computer system mayrecalculate/modify the cut solution/pattern for the workpiece based onthe information about those portions of the workpiece, and may adjustthe position of the cutting member accordingly.

FIG. 6 illustrates a flow diagram of a method of modifying a workpieceprocessing system, in accordance with various embodiments. Again, whilethe blocks are shown in a particular order by way of example, it is tobe understood that in various embodiments the correspondingactions/processes may be performed in any order and/or any suitablenumber of times. Therefore, the order and number of actions/processes isnot intended to be limiting.

Method 600 may begin at block 601. At block 601, a sensor (e.g., sensor120) may be positioned to detect a workpiece (e.g., workpiece 102) on atransport (e.g., transport 110). In some embodiments, the sensor may bepositioned above the transport. In other embodiments, the sensor may bepositioned below or to at least one side of the transport. In variousembodiments, the sensor may include a plurality of sensors positioned indifferent locations. For example, in one embodiment the sensor mayinclude several line scanners positioned at intervals above thetransport.

At block 603, the sensor may be operatively coupled with a computersystem (e.g., computer system 130). The computer system may beconfigured to determine at least one actual position of the workpiecerelative to the transport, compare the actual position to a cutsolution/pattern or desired position for the workpiece, and generatecommands configured to cause the workpiece to be moved relative to thetransport to a desired position that corresponds to the cut solution.

At block 605, the computer system may be operatively coupled with anoutput device configured to output, in response to the commands,directions for moving the workpiece to the desired position. Thedirections for moving the workpiece may be output as auditory or visualsignals adapted to direct a human operator. Alternatively, thedirections may be electronic commands to direct or control a mechanicalpositioner (e.g., one or more chains, a linebar, centering flights,skids, or the like) configured to controllably adjust the position ofthe workpiece. In some embodiments, the directions may include bothelectronic commands adapted to direct or control a mechanical positionerand auditory or visual signals adapted to guide a human operator. Forexample, the computer system may control the positioner, and the outputdevice may output auditory or visual signals to allow a human operatorto manually adjust operations of the positioner and/or verify that theworkpiece is correctly positioned.

Optionally, at block 607, the computer system may be operatively coupledwith a positioning device (e.g., positioner 160). For example, thecomputer system may be operatively coupled with the output device (e.g.,a PLC) at block 605, and the output device may be operatively coupledwith the positioning device at block 607. The positioning device may beconfigured to reposition the workpiece relative to the transport inresponse to the commands from the computer system or the output device.

Other embodiments may lack block 607. For example, the output device maybe configured to output an image or an auditory signal to direct a humanoperator to move the workpiece to the desired position. In someembodiments, the output device may include a display (e.g., display142), a speaker (e.g., speaker 144), and/or a projector (e.g., projector146).

Optionally, at block 609, the computer system may be coupled with acutting member (e.g., cutting member 150) disposed along or downstreamof the transport.

Optionally, at block 611, the computer system may be programmed withinstructions operable to determine a predicted position for the cuttingmember based at least on the cut solution/pattern. The predictedposition may be a start position for the cutting member to cut theworkpiece according to the cut solution/pattern. In various embodiments,the computer system may also be programmed to calculate the cutsolution/pattern, the desired position for the workpiece, and/or thepredicted position for the cutting member.

Optionally, at block 613, the computer system may be programmed withinstructions operable to cause the cutting member to be repositioned tothe predicted position while the workpiece is being moved relative tothe transport. Alternatively, the computer system may be programmed withinstructions operable to cause the cutting member to be repositioned tothe predicted position while the workpiece is being moved by thetransport in the flow direction toward the cutting member.

While the operations of methods 500 and 600 are illustrated in aparticular order and appear only once in the corresponding Figures anddescription, it is to be understood that in various embodiments one ormore of the operations may be repeated, omitted, and/or performed out oforder.

FIG. 7 illustrates an example of a computer system suitable forpracticing embodiments of the present disclosure. In variousembodiments, computer system 700 may have some or all of the featuresdescribed herein with regard to computer system 130. Again, while theblocks are shown in a particular order by way of example, it is to beunderstood that in various embodiments the correspondingactions/processes may be performed in any order and/or any suitablenumber of times. Therefore, the order and number of actions/processes isnot intended to be limiting.

As illustrated, computer system 700 may include system control logic 708coupled to at least one of the processor(s) 704, memory 712 coupled tosystem control logic 708, non-volatile memory (NVM)/storage 716 coupledto system control logic 708, and one or more communications interface(s)720 coupled to system control logic 708. In various embodiments, systemcontrol logic 708 may be operatively coupled with a sensor (e.g., sensor120) and/or an output device (e.g., output device 140). In variousembodiments the processor(s) 704 may be a processor core.

System control logic 708 may include any suitable interfacecontroller(s) to provide for any suitable interface to at least one ofthe processor(s) 704 and/or any suitable device or component incommunication with system control logic 708. System control logic 708may also interoperate with the sensor and/or the output device. Invarious embodiments, the output device may include one or more of adisplay (e.g., display 142, FIGS. 1-2), a projector (e.g., projector146, FIG. 3), and/or a speaker (e.g., speaker 144, FIGS. 1-2). In otherembodiments, the output device may include a PLC>

System control logic 708 may include one or more memory controller(s) toprovide an interface to memory 712. Memory 712 may be used to load andstore data and/or instructions, for example, for various operations ofworkpiece positioning system 100. In one embodiment system memory 712may include any suitable volatile memory, such as suitable dynamicrandom access memory (“DRAM”).

System control logic 708, in one embodiment, may include one or moreinput/output (“I/O”) controller(s) to provide an interface toNVM/storage 716 and communications interface(s) 720.

NVM/storage 716 may be used to store data and/or instructions, forexample. NVM/storage 716 may include any suitable non-volatile memory,such as flash memory, for example, and/or any suitable non-volatilestorage device(s), such as one or more hard disk drive(s) (“HDD(s)”),one or more solid-state drive(s), one or more compact disc (“CD”)drive(s), and/or one or more digital versatile disc (“DVD”) drive(s),for example.

The NVM/storage 716 may include a storage resource that may physicallybe a part of a device on which computer system 700 is installed, or itmay be accessible by, but not necessarily a part of, the device. Forexample, the NVM/storage 716 may be accessed over a network via thecommunications interface(s) 720.

System memory 712, NVM/storage 716, and/or system control logic 708 mayinclude, in particular, temporal and persistent copies of positioninglogic 724. The positioning logic 724 may include instructions operable,upon execution by at least one of the processor(s) 704, to causecomputer system 700 to practice one or more aspects of operationsdescribed herein (e.g., creation of a dimensional model of a workpiecebased on sensor data, calculation of one or more cut solutions,calculation of one or more cut patterns, determination of an actualworkpiece position, determination of a desired workpiece position,determination of a predicted cutting member position, etc.).

Optionally, computer system 700 may include sensor 120 coupled withsystem control logic 708. Sensor 120 may include sensor logic 734.Sensor logic 734 may include instructions operable, upon execution by atleast one of the processor(s) 704, to cause computer system 700 topractice one or more aspects of the processes described herein (e.g.,detecting a workpiece, generation of sensor data, creation of adimensional model based on sensor data, continuously detecting theworkpiece, discontinuously detecting the workpiece, etc.).

Communications interface(s) 720 may provide an interface for computersystem 700 to communicate over one or more network(s) and/or with anyother suitable device. Communications interface(s) 720 may include anysuitable hardware and/or firmware, such as a network adapter, one ormore antennas, a wireless interface, and so forth. In variousembodiments, communication interface(s) 720 may include an interface forcomputer system 700 to use NFC, optical communications (e.g., barcodes),BlueTooth or other similar technologies to communicate directly (e.g.,without an intermediary) with another device. In various embodiments,the wireless interface may interoperate with radio communicationstechnologies such as, for example, WCDMA, GSM, LTE, and the like.

The capabilities and/or performance characteristics of processors 704,memory 712, and so forth may vary. In various embodiments, computersystem 700 may include, but is not limited to, a smart phone, acomputing tablet, a laptop computer, a desktop computer, and/or aserver. In various embodiments computer system 700 may be, but is notlimited to, one or more servers known in the art.

In one embodiment, at least one of the processor(s) 704 may be packagedtogether with system control logic 708 and/or positioning logic 724. Forexample, at least one of the processor(s) 704 may be packaged togetherwith system control logic 708 and/or positioning logic 724 to form aSystem in Package (“SiP”). In another embodiment, at least one of theprocessor(s) 704 may be integrated on the same die with system controllogic 708 and/or positioning logic 624. For example, at least one of theprocessor(s) 704 may be integrated on the same die with system controllogic 708 and/or positioning logic 624 to form a System on Chip (“SoC”).

FIG. 8 illustrates a workpiece positioning process 800 of a positioningsystem (e.g., positioning system 100), in accordance with variousembodiments. While the operations of process 800 are arranged in aparticular order and illustrated once each, in various embodiments oneor more of the operations may be repeated, omitted, or performed out oforder.

The process 800 may begin at operation 810. At operation 810, a sensor,such as sensor 120, may be used to detect a workpiece on a transport(e.g., transport 110). Next, at operation 820 a computer system (e.g.,computer system 130) operatively coupled with the sensor may determinean actual position of the workpiece based on data from the sensor. Insome embodiments, operation 820 may proceed generally as described belowwith reference to process 900 of FIG. 9.

At operation 830 the computer system may compare the actual position toa desired position for the workpiece. In some embodiments, operation 830may proceed generally as described below with reference to process 1000of FIG. 10.

Next, at operation 835 the computer system may determine whether theactual position matches the desired position. In some embodiments, theactual position may “match” the desired position if the actual positiondeviates from the desired position by a percentage of error that iswithin one or more predetermined limits. The predetermined limit(s) maybe stored on the computer system and/or input by a human operator.

If the computer system determines at block 835 that the actual positionmatches the desired position, the process 800 may proceed to operation870. At operation 870, the computer system may indicate that theworkpiece is in the desired position. For example, the computer systemmay generate one or more commands to cause a positioning device (e.g.,positioner 160) to release the workpiece and/or cease repositioning ofthe workpiece. Alternatively, the computer system may generate one ormore commands to cause a display (e.g., display 142), a speaker (e.g.,speaker 144), and/or a projector (e.g., projector 146) to output to ahuman operator an indication that the workpiece is in the desiredposition.

If the computer system determines at operation 835 that the actualposition does not match the desired position (e.g., the differenceexceeds the predetermined limit(s)), the process 800 may proceed tooperation 840. At operation 840, the computer system may calculate acorrective action. The corrective action may include, but is not limitedto, an adjustment to a position of the cutting member to offset thedifference, a modification to the cut pattern or cut solution to offsetthe difference, and/or an adjustment to the actual position of theworkpiece to reduce the difference. In some embodiments, operation 840may proceed generally as described below with reference to process 1100of FIG. 11.

At operation 850 the computer system generate one or more commandsconfigured to implement the corrective action. For example, the computersystem may generate one or more commands configured to cause acontroller/PLC to reposition the workpiece and/or the cutting member.Alternatively, the computer system may generate one or more commandsconfigured to cause an output device (e.g., output device 140) to outputvisual and/or auditory directions to a human operator for repositioningthe workpiece.

Next, at operation 860 the computer system may confirm the correctiveaction. In some embodiments, operation 860 may proceed generally asdescribed below with reference to process 1200 of FIG. 12.

The process 800 may then return to operation 835. If the computer systemdetermines again that the actual position does not match the desiredposition, the process may proceed to operation 840, and the sequence ofoperations 840, 850, 860, and 835 may be repeated until the computersystem determines that the actual position matches the desired position.The process 800 may then proceed to operation 870, after which theprocess may end.

FIG. 9 is a flow chart of an example position determination process 900,in accordance with various embodiments. In various embodiments process900 may include one or more embodiments of operation 820 of process 800.While the operations of process 900 are shown arranged in a particularorder with each of the operations illustrated only once, it is to beunderstood that in various embodiments one or more of the operations maybe repeated, omitted, or performed out of order.

Optionally, the process 900 may begin at operation 910. At operation910, the computer system (e.g., computer system 130) may generate one ormore dimensional models of the workpiece based on the sensor data.Alternatively, the computer system may generate the dimensional model(s)of the workpiece based on data from another sensor upstream of thetransport (e.g., a scanner positioned along an upstream conveyor). Thedimensional models may include a 2D model and/or a 3D model of theworkpiece. FIG. 13A illustrates a schematic diagram of a 2D model 1302of a workpiece, in accordance with various embodiments.

Alternatively, in some embodiments operation 910 may be omitted, and theprocess 900 may begin at operation 920. For example, the computer systemmay receive the dimensional model(s) from another computer/database.Alternatively, the computer system may use a 2D image of the workpiecein lieu of a dimensional model.

Next, at operation 920 the computer system may select one or more pointsalong the workpiece and/or along the dimensional model(s) of theworkpiece. Examples of such points include, but are not limited to, ageometric center of the workpiece, point(s) along a longitudinalcenterline of the workpiece, point(s) along a transverse centerline ofthe workpiece, point(s) along the edges/corners of the workpiece, and/orpoint(s) corresponding to one or more workpiece defects.

Next, at operation 930 the computer system may select one or morereference points. In various embodiments, the reference point(s) mayinclude, but are not limited to, a point at a geometric center of thetransport, point(s) along a longitudinal centerline of the transport,point(s) along a transverse centerline of the transport, point(s) alongthe edges/corners of the corners of the transport, point(s) along atrajectory of the cutting member, and/or point(s) corresponding to apredicted position of the cutting member.

Next, at operation 940 the computer system may determine the location ofthe one or more points along the workpiece/dimensional model(s) relativeto the corresponding one or more reference points. For example, in oneembodiment, the computer system may determine the distance between areference point (e.g., the geometric center of the transport) and apoint located at the geometric center of the workpiece. The pointsselected along the workpiece/model and the reference points may varyamong embodiments. After operation 940, the process may end.

FIG. 10 is a flow chart of an example position comparison process 1000,in accordance with various embodiments. In various embodiments process1000 may include one or more embodiments of operation 840 of process800. While the operations of process 1000 are shown arranged in aparticular order with each of the operations illustrated only once, itis to be understood that in various embodiments one or more of theoperations may be repeated, omitted, or performed out of order.

Optionally, the process may begin at operation 1010. At operation 1010,the computer system may calculate a cut solution for the workpiece. Thecomputer system may calculate the cut solution based on data from thesensor. In some embodiments, the computer system may calculate the cutsolution based at least in part on input from a human operator (e.g., adesired product) and/or information stored on, or retrieved by, thecomputer system (e.g., economic values of products, cost of theworkpiece, constraints of the cutting member, workpiece defects, etc.).In other embodiments, the computer system may calculate the cut solutionbased on data from another sensor positioned upstream of the transport.By way of example, FIG. 13B illustrates a schematic diagram of a cutsolution that defines two products 1306 a and 1306 b to be cut from theworkpiece. In other embodiments, the computer system may receive a cutsolution from another computer or as input, and block 1010 may beomitted.

Optionally, at operation 1020, the computer system may calculate a cutpattern for the workpiece based at least on the cut solution. In someembodiments, the computer system may calculate a plurality of cutpatterns for the workpiece based at least in part on actual positions ofthe workpiece. In other embodiments, the computer system may calculatethe cut pattern for the workpiece based at least in part on input from ahuman operator (e.g., a desired product) and/or information stored on,or retrieved by, the computer system (e.g., workpiece defects, a cutsolution/pattern of a preceding workpiece, constraints of the cuttingmember, etc.). Alternatively, the computer system may receive a cutpattern from another computer or as input, and block 1020 may beomitted. FIGS. 13C and 13D illustrate examples of two possible cutpatterns 1314 (shown in dashed lines) for the dimensionalmodel/workpiece 1302 illustrated in FIG. 13A and the cut solutionillustrated in FIG. 13B.

At operation 1030, the computer system may compare the actual positionof the workpiece to the cut solution or the cut pattern. For example, insome embodiments the computer system may calculate one or more cut linesthat correspond to the cut solution/pattern. For each cut line, thecomputer system may determine a predicted location of the cut linerelative to the transport (e.g., transport 110) and/or correspondingcutting member (e.g., cutting member 150) and a desired location of thecut line along the workpiece/dimensional model. The computer system maythen compare the predicted location to the desired location to determineany differences in distance/orientation/angle.

Optionally, at operation 1040, the computer system may determine adesired position for the workpiece based on the comparison. For example,the computer system may determine a location for the workpiece at whichthe desired location(s) of the cut lines along the workpiece/dimensionalmodel overlap the predicted location(s) of the cut line(s) relative tothe transport. Alternatively, the computer system may determine a rangeof locations for the workpiece at which the predicted location(s) of thecut line(s) relative to the transport would substantially overlap theworkpiece/dimensional model, such that the cut lines fall within theouter periphery of the workpiece/dimensional model. After operation1030/1040, the process 1000 may end.

FIG. 11 is a flow chart of an example corrective action determinationprocess 1100, in accordance with various embodiments. In variousembodiments process 1100 may include one or more embodiments ofoperation 850 of process 800. While the operations of process 1100 areshown arranged in a particular order with each of the operationsillustrated only once, it is to be understood that in variousembodiments one or more of the operations may be repeated, omitted, orperformed out of order.

The process 1100 may begin at operation 1110. At operation 1110, thecomputer system may calculate an adjustment to a cutting member (e.g.,cutting member 150) to offset a difference between the actual positionof the workpiece and the desired position of the workpiece. Optionally,the adjustment may be an adjustment to a skew/slew position that wouldallow the workpiece to be cut according to the cut solution/patternwithout further repositioning of the workpiece. In some embodiments, thecomputer system may calculate the positional error (e.g., the differencebetween the actual position of the workpiece and the desired position ofthe workpiece). The positional error can include, for example, adifference in skew angle, a difference in lateral position (e.g.,relative to a lateral edge of the transport), and/or a difference inaxial position (e.g., relative to an upstream or downstream end of thetransport) between the actual position of the workpiece and the desiredposition of the workpiece. The computer system may then determine anadjustment to the cutting member that would reduce or eliminate thepositional error (e.g., that would reduce the positional error to withinan acceptable range of error). In various embodiments, the computersystem may determine whether the positional error can be reduced towithin an acceptable range of error by shifting or otherwiserepositioning the cutting member to a different start position (e.g.,one inch to the left). In response to a determination that thepositional error cannot be reduced to within the acceptable range oferror by adjusting the start position of the cutting members, thecomputer system may determine whether the positional error can bereduced to within the acceptable range of error by slewing the cuttingmember while the cutting member engages the workpiece, to thereby imparta slight skew angle to the cutting member as discussed further belowwith regard to FIGS. 14 and 15A-D.

Next, at operation 1115 the computer system may determine whether theadjustment to the cutting member is within the limits of the cuttingmember. This determination may be based at least in part on stored orretrieved information about various constraints of the cutting member.For example, in some embodiments the computer system may be programmedwith information about the slew range of the cutting member and/or theskew range of the cutting member. Thus, the computer system maydetermine that an adjustment to the cutting member that would requireskewing/slewing of the cutting member beyond the given range(s) isoutside the limits of the cutting member. Similarly, the computer systemmay determine that an adjustment to the cutting member that wouldrequire slewing/slewing of the cutting member within the given range(s)is not outside the limits of the cutting member. In some embodiments,the computer system may determine an adjustment to the position of thecutting member relative to the workpiece that would allow a greater skewangle to be imparted to the cutting member by skewing. For example, asdiscussed below with reference to FIGS. 14 and 15A-D, the computersystem may determine that repositioning the cutting member to reduce thelength of the cutting member within the cut may allow the cutting memberto be skewed by up to another 1-2 degrees by slewing. The computersystem may determine whether the adjustment(s) to the position and/oroperation of the cutting member are within the limits of the cuttingmember, and whether they are sufficient to allow the workpiece to be cutaccording to the desired cut solution/pattern.

If the computer system determines at operation 1115 that the adjustmentto the cutting member is within the limits of the cutting member, theprocess 1100 may end. However, if the computer system determines atoperation 1115 that the adjustment is outside the limits of the cuttingmember, the process 1100 may proceed to operation 1120. In someembodiments, operations 1110 and/or 115 may be omitted, and process 1100may begin at block 1120.

In operation 1120, the computer system may calculate a modified cutsolution/pattern to offset the positional error. Optionally, themodification may be an adjustment to the cut solution/pattern that wouldallow the workpiece to be cut according to the modified cutsolution/pattern without further repositioning of the workpiece. Forexample, the computer system may determine a modification to a lead-inor lead-out portion of a cut pattern along an end of the workpiece thatwill be trimmed away further downstream. Alternatively, the modificationmay be a new or recalculated cut solution/pattern that yields the sameproducts or different products than the prior cut solution. For example,the modification may be a new cut pattern based on the same cutsolution, but with the cut lines arranged, oriented, and/or angleddifferently than in the previous cut pattern. FIG. 13E illustrates anexample of a modification to a cut pattern in which the skew angle ofthe cut lines of a prior cut pattern (i.e., the cut pattern of FIG. 13D)has been modified relative to the dimensional model/workpiece 1302.

In operation 1125, the computer system may determine whether theadjustment is outside predefined limits. In various embodiments, thelimits may include an acceptable range of positional error, anacceptable range of products and/or economic yield from the workpiece,and/or limits of the cutting member as generally described above. If thecomputer system determines in operation 1125 that the adjustment is notoutside the limits, the process 1100 may end.

However, the computer system determines in operation 1125 that theadjustment is outside the limits, the process 1100 may proceed tooperation 1130. At operation 1130, the computer system may calculate anadjustment to the skew angle and/or the lateral or axial position of theworkpiece. For example, the computer system may determine, based on thepositional error, that the workpiece should be moved axially/laterallyor rotated/skewed in a particular direction to a given distance/angle.After operation 1125, process 1100 may end.

FIG. 12 is a flow chart of an example corrective action confirmationprocess 1200, in accordance with various embodiments. In variousembodiments process 1200 may include one or more embodiments ofoperation 860 of process 800. While the operations of process 1200 areshown arranged in a particular order with each of the operationsillustrated only once, it is to be understood that in variousembodiments one or more of the operations may be repeated, omitted, orperformed out of order.

The process 1200 may begin at operation 1210. At operation 1210, thecomputer system may determine whether the positional error has beenoffset by an adjustment to the cutting member. If the computer systemdetermines that the positional error has been offset by an adjustment tothe cutting member, the process 1210 may proceed to operation 1220.

In operation 1220, the computer system may recalculate the desiredposition based on the adjustment to the cutting member. For example, thecomputer system may offset the desired position by the samedistance/angle as the adjustment to the cutting member. Alternatively,in other embodiments the computer system may instead recalculate theactual position by offsetting the actual position to the same degree asthe adjustment to the cutting member. In still other embodiments, thecomputer system may recalculate the cut solution/pattern based on theadjustment to the cutting member.

Next, at operation 1280, the computer system may compare the actualposition to the desired position, after which the process 1200 may end.The actual/desired position may be the recalculated actual/desiredposition.

However, if the computer system determines at operation 1210 that thepositional error was not offset by an adjustment to the cutting member,the process 1200 may proceed to operation 1230. At operation 1230, thecomputer system may compare the current cut solution/pattern to a priorcut solution/pattern to determine whether a modification was made to thecut solution/pattern (e.g., to offset positional error, as in operation1120 of process 1100). If the computer system determines that the cutsolution/pattern was not modified, the process 1200 may proceed tooperation 1250. If the computer system determines that the cutsolution/pattern was modified, the process 1200 may proceed to operation1240.

At operation 1240, the computer system may recalculate the desiredposition based on the current cut solution/pattern, and the process 1200may then proceed to operation 1250.

At operation 1250, the sensor (e.g., sensor 120) may be used again todetect the workpiece on the transport (e.g., transport 110). Next, atoperation 1260, the computer system may compare the current position ofthe workpiece to a prior position of the workpiece. For example, thecomputer system may select a point along the workpiece (e.g., thegeometric center of the workpiece) and compare the location of thatpoint in the current position to the location of that point in the priorposition. Alternatively, in other embodiments, the computer system maydetermine the current position of the workpiece generally as describedabove with regard to process 900, or in any other suitable manner, andoperations 1260 and 1265 may be omitted (i.e., the process 1200 mayproceed from 1250 directly to operation 1270).

Next, at operation 1265, the computer system may determine whether theactual position of the workpiece has changed (i.e., whether the currentposition is different from the prior position). If the computer systemdetermines that the actual position has not changed, the process mayproceed to operation 1280. However, if the computer system determinesthat the actual position has changed, the process may proceed tooperation 1270.

At operation 1270, the computer system may recalculate the actualposition based on data from the sensor. In some embodiments, thecomputer system may determine the current position of the workpiecegenerally as described above with regard to process 900. Alternatively,the computer system may determine the current position in any othersuitable manner. The process 1200 may then proceed to operation 1280,after which the process may end.

In various embodiments, the cutting member(s) may be one or more saws orchip heads. In one embodiment, at least one cutting member may be a sawand another cutting member may be a chip head. In some embodiments, thecutting members may be one or more saw(s) that are mounted along anarbor and coupled with a slewing assembly configured to selectively movethe saw(s) along the arbor while a workpiece is being cut by the saw(s).An example of a slewing assembly is described in U.S. Pat. No. 7,861,754(“Edger With Staggered Saws,” also owned by Applicants), the disclosureof which is incorporated by reference herein.

FIG. 14 illustrates a plan view of an embodiment of a cutting assembly1400 suitable for use with various embodiments of the presentdisclosure. The cutting assembly 1400 may be, but is not limited to, anedger, a canter/slabber, a straight sawing gang, a curve sawing gang, oranother type of primary or secondary breakdown machine that includesmovable cutting members. As illustrated, the cutting assembly 1400 mayinclude cutting members 1450 mounted along an arbor 1470. Arbor 1470 maybe rotatably mounted to one or more portions of a frame 1480, such as asaw box, and selectively rotatable around an axis of rotation 1478. Insome embodiments, the cutting assembly may have two or more arbors.Various embodiments may have either horizontal arbor(s) or verticalarbor(s).

Cutting members 1450 may be coupled with corresponding guides 1472. Eachof the guides 1472 may be mounted on a corresponding shaft 1474 andoperatively coupled with a corresponding slew actuator 1476 tocollectively form a slew assembly. Slew actuators 1476 may beselectively actuable to move guides 1472 along shafts 1474 generallyparallel to arbor 1470 to thereby move the corresponding saws 1450 alongarbor 1470. In some embodiments, slew actuators 1476 may be linearpositioners (e.g., hydraulic or pneumatic cylinders). In the embodimentillustrated in FIG. 14, the slew actuators 1476 and shafts 1474 arevertically aligned, such that only the uppermost of each is visible.However, the types, arrangement, and configuration of the slewactuator(s) and other components of the slew assembly may vary amongembodiments.

Optionally, the cutting assembly 1400 may further include a skewactuator 1482 coupled with one or more components of the slewingassembly. Skew actuator 1482 may include one or more linear positionersor other actuator(s), and may be selectively actuable to skew the saws1450 relative to the arbor 1470.

However, other embodiments may lack a skew actuator 1482. For example,the cutting assembly 1400 may be a straight sawing gang/edger, andslewing assembly 1474 may be operable to slew saws 1450 along arbor 1470while a workpiece is being cut. This may allow the cutting assembly tobe used to saw a workpiece along the cut lines of a desired cut solutioneven if the workpiece is slightly skewed relative to the desiredposition for the cut pattern. Slewing the cutting members 1450 in agiven direction while they are engaged in cutting the workpiece mayapply pressure against the corresponding side of the cutting member(s).This pressure may push the cutting member(s) a short distance to oneside, introducing a slight skew angle 1484. In various embodiments,where the normal (unskewed) position of the saw blade is considered tobe 0 degrees, slewing the saw(s) while cutting the workpiece mayintroduce a skew angle of up to 5 degrees in either direction, relativeto the normal position. In other embodiments, the saw(s) may beselectively slewed while cutting the workpiece to introduce a desiredskew angle of up to 5 degrees. Alternatively, the maximum skew angle maybe an angle that is greater than, or less than, 5 degrees relative tothe normal position.

Thus, in embodiments with a straight-sawing cutting assembly, thecomputer system may be configured to determine whether a workpiece thatis skewed relative to the desired position can be cut according to thedesired cut solution by slewing the cutting member(s). For example,where the workpiece has been positioned and is being conveyed to thecutting members in a slightly skewed position, the computer system maycalculate a corrective skew angle for the cutting member(s) that wouldallow the workpiece to be cut according to the desired cut solutionwithout repositioning the workpiece. The computer system may determinewhether the calculated skew angle is within a range of obtainable skewangles for the cutting member(s). If the calculated skew angle is withinthat range, the computer system may automatically adjust the cut patternand/or control the cutting assembly to slew the cutting member(s) asneeded to produce the calculated skew angle. Alternatively, afterdetermining that the workpiece is skewed relative to the desiredposition, the computer system may adjust the cut pattern or control thecutting assembly to slew (and thereby skew) the cutting member(s)without calculating the skew angle required to cut the workpieceaccording to the cut solution.

Optionally, in some embodiments the computer system may be configured tocalculate an adjustment to the cutting member(s) that increases thelimit to which the cutting member(s) can be skewed to compensate forworkpiece positional errors. For example, where the cutting member is acircular saw, decreasing the cutting depth by raising the saw mayincrease the maximum angle at which the saw can be skewed by slewingduring the cut.

FIGS. 15A-D illustrate schematic views of saw positions relative to aworkpiece, in accordance with various embodiments. FIGS. 15A and 15Bshow schematic plan and side views, respectively, of a saw 1550 that isbeing slewed while cutting a workpiece 1502. In FIG. 15A, slewing saw1550 while cutting the workpiece has induced a skew angle ofapproximately 3 degrees. As the saw is slewed during engagement with theworkpiece, the maximum skew angle of the saw is limited in part by thewidth of the cut and the length of the portion of the saw disposedwithin the cut. This is because the lagging edge of the saw engages thewood on one side of the cut while the leading edge is cutting. Thus, thegreater the distance between the leading edge and the lagging edgewithin the cut, the smaller the potential skew angle of the saw.Decreasing this distance—such as by repositioning either the saw or theworkpiece to reduce the maximum length of the saw within the cut—mayincrease the maximum angle to which the saw(s) can be skewed by slewing.For example, in FIGS. 15C and 15D, saw 1550 is shown repositionedrelative to workpiece 1502 such that the workpiece is further from therotational axis of the saw. This reduces the distance between theleading edge and the lagging edge of the saw within the cut, allowingthe saw to be skewed to an angle of approximately 5 degrees by slewingthe saw as it cuts the workpiece. Alternatively, the maximum length ofthe saw within the cut can be increased to limit the maximum skew anglethat can be introduced by slewing.

These examples are provided merely by way of illustration, and variousother skew angles and ranges are contemplated. In other embodiments,different skew angles and ranges of skew angles may be provided byadjusting the position of the saw relative to the workpiece, adjustingthe position of the workpiece relative to the saw, slewing/pushing theworkpiece while sawing (instead of, or in addition to, slewing the saw),and/or using a saw of a larger or smaller diameter. For example, in someembodiments saws of various diameters may be arrayed on the arbor, andone or more of the saws may be selected for use based at least in parton the diameter of the saw(s).

The computer system may be configured to perform any or all of the abovecalculations, operations, and/or functions. In particular, the computersystem may be configured to calculate/determine a desired skew angle forthe saw(s) and to cause the saw(s) to be adjusted, controlled, and/orselected to cut the workpiece according to the desired cutsolution/pattern. As such, in some embodiments a simple straight sawingsystem may be converted to a system with limited curve-sawingfunctionality and/or positional error correction functionality by addinga sensor and a computer system generally in accordance with embodimentsdescribed herein.

Although certain embodiments have been illustrated and described herein,it will be appreciated by those of ordinary skill in the art that a widevariety of alternate and/or equivalent embodiments or implementationscalculated to achieve the same purposes may be substituted for theembodiments shown and described without departing from the scope. Thosewith skill in the art will readily appreciate that embodiments may beimplemented in a very wide variety of ways. This application is intendedto cover any adaptations or variations of the embodiments discussedherein. Therefore, it is manifestly intended that embodiments be limitedonly by the claims and the equivalents thereof.

What is claimed is:
 1. A non-volatile computer-readable mediumcomprising instructions operable, upon execution by a processor, todetermine, based on data from a sensor positioned to detect a workpieceon a transport, at least one actual position of the workpiece relativeto the transport; compare the at least one actual position to at leastone cut solution for the workpiece; and generate, based at least on thecomparison, one or more commands configured to cause the workpiece to bemoved relative to the transport to a desired position that correspondsto the at least one cut solution.
 2. The non-volatile computer-readablemedium of claim 1, wherein the at least one actual position includes aplurality of actual positions, and the instructions are furtheroperable, upon execution by the processor, to calculate the at least onecut solution or the desired position based at least on data from thesensor while the workpiece is being moved relative to the transportamong the plurality of actual positions.
 3. The non-volatilecomputer-readable medium of claim 1, wherein the at least one actualposition includes a plurality of actual positions, and the instructionsare further operable, upon execution by the processor, to cause anadjustment to a position of a cutting member downstream of the workpiecebased at least on data from the sensor while the workpiece is beingmoved relative to the transport among the plurality of actual positions.4. The non-volatile computer-readable medium of claim 2, wherein theinstructions are further operable, upon execution by the processor, tocalculate the at least one cut solution based at least in part on inputby an operator or a grade of the workpiece.
 5. The non-volatilecomputer-readable medium of claim 4, wherein the sensor includes avision camera, and the instructions are further operable, upon executionby the processor, to determine the grade of the workpiece based at leaston the data from the sensor or the input.
 6. The non-volatilecomputer-readable medium of claim 5, wherein the instructions arefurther operable, upon execution by the processor, to cause a cuttingmember downstream of the workpiece to be repositioned based at least onthe desired position or the actual position.
 7. The non-volatilecomputer-readable medium of claim 1, wherein the one or more commands isconfigured to cause a projector to project an image onto the transportto indicate the desired position or the cut solution, or to cause adisplay to display an image of the desired position or the cut solutionrelative to the transport or the workpiece, or to cause a speaker toemit one or more auditory instructions to direct a human operator inmoving the workpiece to the desired position.
 8. The non-volatilecomputer-readable medium of claim 6, wherein the instructions arefurther operable, upon execution by the processor, to determine apositional error for the workpiece and to calculate an adjustment to adownstream cutting member to offset the positional error.
 9. Thenon-volatile computer-readable medium of claim 8, wherein the adjustmentto the cutting member includes one or more of an adjustment to astarting position of the cutting member and a skew angle to be inducedby slewing the cutting member while cutting the workpiece.
 10. Thenon-volatile computer-readable medium of claim 9, wherein theinstructions are further operable, upon execution by the processor, toimplement the adjustment.
 11. A workpiece positioning system comprising:a transport configured to convey a workpiece in a flow direction towarda cutting member; a sensor configured to detect a workpiece on thetransport; and a computer system operatively coupled with the sensor,the computer system programmed with instructions operable, uponexecution by a processor, to determine, based on data from the sensor,at least one actual position of the workpiece relative to the transport;compare the at least one actual position to a cut solution for theworkpiece; and generate, based at least on the comparison, one or morecommands configured to cause the workpiece to be moved relative to thetransport to a desired position that corresponds to the cut solution.12. The workpiece positioning system of claim 11, further including apositioner disposed along the transport, the positioner configured tomove the workpiece relative to the transport in response to the one ormore commands from the computer system.
 13. The workpiece positioningsystem of claim 11, wherein the computer system includes a display, andthe one or more commands are configured to cause the display to displaya visual representation of the cut solution or the desired positionrelative to the workpiece or the transport.
 14. The workpiece processingsystem of claim 11, wherein the computer system includes a speaker, andthe one or more commands are configured to cause the speaker to emit anauditory signal configured to guide a human operator in moving theworkpiece to the desired position.
 15. The workpiece processing systemof claim 11, wherein the at least one actual position is a plurality ofactual positions, and the computer system is programmed withinstructions that are further operable, upon execution by the processor,to calculate the cut solution based at least on data from the sensorwhile the workpiece is moved relative to the transport among theplurality of actual positions.
 16. The workpiece processing system ofclaim 11, wherein the computer system is programmed instructions thatare further operable, upon execution by a processor, to calculate thecut solution while the workpiece is moved relative to the transportamong the plurality of actual positions.
 17. The workpiece processingsystem of claim 11, further including a cutting member positioned alongor downstream of the transport, wherein the computer system isprogrammed with instructions that are further operable, upon executionby a processor, to cause the cutting member to be repositioned based atleast on the desired position or the actual position.
 18. The workpieceprocessing system of claim 11, further including a projector operativelycoupled with the computer system, the one or more commands configured tocause the projector to project an image onto the transport or theworkpiece to thereby indicate the desired position or the cut solution.19. The workpiece processing system of claim 18, wherein the image is animage of the workpiece, and the one or more commands are configured tocause the projector to project the image of the workpiece onto thetransport at the desired position.
 20. The workpiece processing systemof claim 11, the instructions further operable, upon execution by theprocessor, to determine a positional error of the workpiece and tocalculate an adjustment to the cutting member to offset the positionalerror.
 21. The workpiece processing system of claim 20, wherein theadjustment to the cutting member includes a skew angle to be induced inthe cutting member by slewing the cutting member while cutting theworkpiece.
 22. The non-volatile computer-readable medium of claim 20,wherein the instructions are further operable, upon execution by theprocessor, to implement the adjustment.
 23. A method of positioning aworkpiece on a support, the method comprising: using a sensor to detectworkpiece on the support; determining by a computer system, based ondata from the sensor, at least one actual position of the workpiecerelative to the support; comparing, by the computer system, the at leastone actual position to a cut solution for the workpiece; and generatingby the computer system, based at least on the comparison, one or morecommands configured to cause the workpiece to be moved relative to thetransport to a desired position that corresponds to the cut solution.24. The method of claim 23, further including calculating the cutsolution or the desired position, by the computer system, based at leaston the data from the sensor.
 25. The method of claim 24, wherein the atleast one actual position includes a plurality of actual positions, themethod further including moving the workpiece among the plurality ofpositions while the computer system calculates the cut solution or thedesired position.
 26. The method of claim 25, further includingdetermining, by the computer system, one or more predicted positions fora cutting member downstream of the workpiece, wherein the one or morepredicted positions corresponds to the cut solution or the actualpositions of the workpiece.
 27. The method of claim 26, furtherincluding causing, by the computer system, the cutting member to berepositioned to the one or more predicted positions while the workpieceis being moved among the plurality of positions.
 28. The method of claim27, wherein the one or more commands is configured to cause a projectorto project an image onto the transport to indicate the desired positionor the cut solution, or to cause a display to display an image of thedesired position or the cut solution relative to the transport.
 29. Themethod of claim 23, wherein the one or more commands is configured tocause a speaker to emit an auditory signal adapted to guide a humanoperator in moving the workpiece to the desired position.
 30. The methodof claim 23, further including: determining, by the computer system, apositional error of the workpiece; and calculating, by the computersystem, an adjustment to the cutting member to offset the positionalerror.